Development of Rotary Type Movers Discretely Interacting with Supporting Surface and Problems of Control Their Movement

Abstract

The problem of determining of motion quality indicators for walking robots of rotary type movers discretely interacting with supporting surface is formulated. The quality indicators have been introduced functionals, depending on equations of motion.

On the Optimal Modes of Controlled Transfer of Walking Propulsion Devices

“…Equations ( 10) are solved at each stage with regards to boundary conditions (7), (8). The optimality of foot transfer according to selected criterion (3) at each stage together with the choice of control parameters t1, U provide the optimality of entire movement mode [4].…”

“…One of the promising propulsion devices for mobile robots designed to perform various technological operations on an unorganized surface is a walking propulsion device. Such propulsion device is currently object of research [1][2][3][4][5]. Various mathematical models are considered that describe the dynamics of controlled movement of broth multi-legged and bipedal robots [6][7][8][9][10][11].…”